A crosspiece upon the head of a boat's rudder. To its ends lines are attached which lead forward so that the boat can be steered from amidships.

A bent crosspiece connecting two other parts.

a control device controlling steering

A frame or bar having its center portion bored and keyed or otherwise constructed for attachment to the rudder stock. The connecting rods from the steering engine or the leads from the steering gear are connected to each end of the yoke for the purpose of turning the rudder.

In aviation, a yoke is a control used in most fixed-wing aircraft, which might be referred to as a steering wheel by people not familiar with aircraft.